{{attachment:OpenBuildsCNCRouter.jpg|OpenBuildsCNCRouter|height="300"}}
{{attachment:CNCRouter1.jpg|CNCRouter1|height="300"}}

Project lead: [[mailto:seick@wisc.edu|Stephen Eick]]

== Purpose ==
The purpose of this project is to provide Garage Physics with a low-cost, high-quality CNC router.

== Introduction ==
The CNC router to be constructed is the [[http://openbuilds.com/builds/openbuilds-ox-cnc-machine.341/|OX]]. This particular 3-axis (X, Y, and Z) router was selected due to its relatively-low cost, sturdiness, and flexible build size. Garage Physics has partnered with Wisconsin Robotics to split the cost of the router because both organizations have a shared desire for one.

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== Hardware ==
||<tablewidth="509px" tableheight="560px">Item ||Quantity ||Part Link ||Item ||Quantity ||Part Link ||
||V-Slot 20x80mm (1500) ||2 ||http://openbuildspartstore.com/v-slot-linear-rail/ ||V-Slot 20x60mm (1500) ||2 ||http://openbuildspartstore.com/v-slot-linear-rail/ ||
||V-Slot 20x40mm (1500) ||4 ||http://openbuildspartstore.com/v-slot-linear-rail/ ||V-Slot 20x40mm (250) ||1 ||http://openbuildspartstore.com/v-slot-linear-rail/ ||
||Solid V Wheel Kit ||28 ||http://openbuildspartstore.com/xtreme-solid-v-wheel-kit/ ||90 Degree corner bracket ||8 ||http://openbuildspartstore.com/cast-corner-bracket/ ||
||5 hole 90 degree joining plate ||4 ||http://openbuildspartstore.com/90-degree-joining-plate/ ||Universal L brackets (double) ||4 ||http://openbuildspartstore.com/l-bracket/ ||
||Aluminum Spacers (1-1/2") ||3 ||http://openbuildspartstore.com/aluminum-spacers/ ||Precision Shim ||40 ||http://openbuildspartstore.com/precision-shim-10x5x1mm/ ||
||Eccentric Spacers (1/4" Full Size) ||13 ||http://openbuildspartstore.com/eccentric-spacer/ ||Threaded Rod Plate (Nema 17) ||2 ||http://openbuildspartstore.com/threaded-rod-plate-for-nema-17-stepper-motor/ ||
||Flexible Coupling (5mm x 8mm) ||1 ||http://openbuildspartstore.com/5mm-8mm-flexible-coupling/ ||8mm Threaded Rod (250mm) ||1 ||http://openbuildspartstore.com/8mm-metric-acme-lead-screw/ ||
||Lock Collar (8mm) ||2 ||http://openbuildspartstore.com/lock-collar/ ||Bearing (8mm) ||1 ||http://openbuildspartstore.com/ball-bearing-688z-8x16x5/ ||
||GT3 Timing Belt ||7 ||http://openbuildspartstore.com/gt3-timing-belt-by-the-foot/ ||Socket Head M5 Screws (65mm) ||1 ||http://www.mcmaster.com/#91290a270/=ysofda ||
||OX Plates ||1 ||http://www.ebay.com/itm/Openbuilds-OX-CNC-Aluminum-Gantry-Plates-With-Universal-Threaded-Rod-Plates-||/261475896332?hash=item3ce12d8c0c&vxp=mtr ||Acme Nut Block 8mm ||1 ||http://openbuildspartstore.com/nut-block-for-8mm-metric-acme-lead-screw/ ||
||GT3 Timing Pulley ||3 ||http://openbuildspartstore.com/gt3-aluminum-timing-pulley-20-tooth/ ||M5x15mm Low Profile Screws ||2 ||http://openbuildspartstore.com/low-profile-screws-m5/ ||
||M5x30mm Low Profile Screws ||2 ||http://openbuildspartstore.com/low-profile-screws-m5/ ||M5x45mm Low Profile Screws ||1 ||http://openbuildspartstore.com/low-profile-screws-m5/ ||
||M5x8mm Low Profile Screws ||2 ||http://openbuildspartstore.com/low-profile-screws-m5/ ||M5x20mm Low Profile Screws ||1 ||http://openbuildspartstore.com/low-profile-screws-m5/ ||
||M3x45mm Cap Head Screws ||4 ||http://openbuildspartstore.com/m3-cap-head-screws/ ||5mm Locknut ||12 ||http://openbuildspartstore.com/nylon-insert-hex-locknut/ ||
||M5 Tee Nuts ||2 ||http://openbuildspartstore.com/tee-nuts-25-pack/ ||1/8" Spacers ||12 ||http://openbuildspartstore.com/aluminum-spacers/ ||
||1/4" Spacers ||17 ||http://openbuildspartstore.com/aluminum-spacers/ ||V-Slot Spacer Block ||2 ||http://openbuildspartstore.com/spacer-block/slot ||


== Electronics ==
Still under development...
||<tablewidth="509px" tableheight="560px">Item ||Link ||
||Nema 23 Stepper || ||
||Nema 17 Stepper || ||
||Stepper Driver Boards ||__https://www.servo2go.com/product.php?ID=100434&cat=10021&sub=10003__ ||
||12V/30A PSU ||__http://openbuildspartstore.com/12v-30a-power-supply/__ ||
||40x40mm x 10 12v fan ||__http://www.amazon.com/dp/B000LB0M8S/ref=cm_sw_su_dp__ ||


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== Controlling the router ==

=== A Single Stepper ===
The first order of business is achieving control of a single stepper motor. Here's a bunch of links that were very useful while working through this:

|| [[https://www.servo2go.com/support/downloads/3540MUserManual.pdf||Stepper controller user manual]] ||
|| [[http://mcsupplyco.com/uploads/images/drawings/pdf1/MD7.pdf|Connecting the stepper to the driver board (see page 9)]] ||
|| [[https://www.artisantg.com/info/ATGb6fcl.pdf|Stepper motor ratings (see page 17)]] ||


Here's a block diagram of the test setup used:

{{attachment:stepper-test-diagram.png|stepper-test-diagram|height="400"}}

Some of the quirks discovered in testing:

 * The safe stepping period range is 300-1200 microseconds. 
 * Starting the stepper at a power-up with a stepping period of <300us does not work.
 * The stepper was able to operate down to 200us by progressively lowering the period. If power is always maintained, then one could potentially operate the stepper at that fast of a stepping frequency.
 * Above 1200us, the stepper experiences severe vibrations. Mounting it to a bracket should solve this.
 * The driver board was configured to use 1.5A/phase and half-stepping.

More to come!

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== Cleaning Out The Space ==

It was determined that the router would live in Room B101A, which is one of the smaller rooms in the main GP workspace. In order to clean the room, a small army of people was needed. A few Garage Physics members that are also in Wisconsin Robotics brought along other WR members to assist with the move. Here are some photos from the move:


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== Operating the router ==
Coming not too soon...